Nonholonomic LR systems as Generalized Chaplygin systems with an Invariant Measure and Geodesic Flows on Homogeneous Spaces

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dc.creatorFedorov, Yuri N.
dc.creatorJovanovic, Bozidar
dc.date2003-07-08
dc.date2004-03-04
dc.date.accessioned2026-07-07T06:21:06Z
dc.date.available2026-07-07T06:21:06Z
dc.descriptionWe consider a class of dynamical systems on a Lie group $G$ with a left-invariant metric and right-invariant nonholonomic constraints (so called LR systems) and show that, under a generic condition on the constraints, such systems can be regarded as generalized Chaplygin systems on the principle bundle $G \to Q=G/H$, $H$ being a Lie subgroup. In contrast to generic Chaplygin systems, the reductions of our LR systems onto the homogeneous space $Q$ always possess an invariant measure. We study the case $G=SO(n)$, when LR systems are multidimensional generalizations of the Veselova problem of a nonholonomic rigid body motion, which admit a reduction to systems with an invariant measure on the (co)tangent bundle of Stiefel varieties $V(k,n)$ as the corresponding homogeneous spaces. For $k=1$ and a special choice of the left-invariant metric on SO(n), we prove that under a change of time, the reduced system becomes an integrable Hamiltonian system describing a geodesic flow on the unit sphere $S^{n-1}$. This provides a first example of a nonholonomic system with more than two degrees of freedom for which the celebrated Chaplygin reducibility theorem is applicable. In this case we also explicitly reconstruct the motion on the group SO(n).
dc.description39 pages, the proof of Lemma 4.3 and some references are added, to appear in Journal of Nonlinear Science
dc.identifierhttps://arxiv.org/abs/math-ph/0307016
dc.identifierhttp://arxiv.org/abs/math-ph/0307016
dc.identifierJournal of Nonlinear Science, Vol. 14 (2004) 341 - 381.
dc.identifierdoi:10.1007/s00332-004-0603-3
dc.identifier.urihttp://salesiana.dossiersoluciones.com/handle/123456789/95493
dc.subjectMathematical Physics
dc.subjectDynamical Systems
dc.subjectExactly Solvable and Integrable Systems
dc.subject37J60, 37J35, 70H45
dc.titleNonholonomic LR systems as Generalized Chaplygin systems with an Invariant Measure and Geodesic Flows on Homogeneous Spaces
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